ardupilot

Commit Graph

Author	SHA1	Message	Date
James Bielman	5631f865b2	Update floating point calculations to use floats instead of doubles. - Allows use of hardware floating point on the Cortex-M4. - Added "f" suffix to floating point literals. - Call floating point versions of stdlib math functions.	12 years ago
Andrew Tridgell	3ac3aeb1b1	AHRS: fixed build on ARM	12 years ago
rmackay9	1c08f176ea	AP_AHRS: add get_accel_ef method to return earth frame accelerometer values for use in ArduCopter's inertial nav and accel based throttle	12 years ago
Andrew Tridgell	ceb3f577d8	libraries: use new math functions	12 years ago
Andrew Tridgell	8b6ad6d559	SITL: removed SITL_debug() not needed any more	12 years ago
Andrew Tridgell	5840ded767	AHRS: removed constrain() defines	12 years ago
Pat Hickey	9bf69d4e0d	AP_AHRS: port to AP_HAL	12 years ago
Andrew Tridgell	8561f08b2f	AP_AHRS: prevent a large delta_t from affecting DCM solution this should fix large changes in attitude directly after arming ArduCopter	12 years ago
rmackay9	83ae8e47be	AP_AHRS: replace IMU with INS and add roll and pitch trim	12 years ago
Andrew Tridgell	fe47990dab	AP_AHRS: removed the 6 sats min this would put us into dead-reckoning mode	12 years ago
Andrew Tridgell	6a24bdec05	AP_AHRS: require at least 6 satellites to use the GPS for velocity logs of a recent flight show the velocity estimate can be very poor if the GPS can see 5 satellites or less	12 years ago
Andrew Tridgell	ea40432235	AP_AHRS: use GPS vertical velocity when available	12 years ago
Andrew Tridgell	00bf548f87	AHRS: limit wind speed estimate changes sudden yaw changes can cause bad wind estimates	13 years ago
Andrew Tridgell	ccf8ba3ce9	DCM: limit the contribution of the baro to vertical acceleration limit to a max of 0.5g	13 years ago
Andrew Tridgell	fba1692d69	AHRS: added AHRS_BARO_USE parameter allow disabling of the use of the barometer for vertical acceleration compensation	13 years ago
Andrew Tridgell	de28cc8b28	AHRS: added AHRS_WIND_MAX option this allows APM to cope better with airspeed sensor failure, but ensuring airspeed stays within AHRS_WIND_MAX of ground speed	13 years ago
Andrew Tridgell	2be785899b	AHRS: added airspeed_estimate() function this allows the APM code to use an airspeed estimate for navigation	13 years ago
uncrustify	31a4442904	uncrustify libraries/AP_AHRS/AP_AHRS_DCM.cpp	13 years ago
Andrew Tridgell	134cd51d17	AHRS: moved var_info[] into top level AP_AHRS class	13 years ago
Andrew Tridgell	ac72db8f00	AHRS: added set_fast_gains() method this will be used by arducopter on the ground	13 years ago
Andrew Tridgell	14cdbd36cb	AHRS: check for bad values in the error before they can affect DCM this should fix the DCM renorm errors in autotest, probably caused by bad climb rates	13 years ago
Andrew Tridgell	d9cc967508	AHRS: force an extra read of the compass on startup the first read from the compass can be bad. This ensures we have a good value when getting the initial AHRS yaw. Thanks to Randy and Jason for the bug report!	13 years ago
Andrew Tridgell	19a5d11669	AHRS: use airspeed for wind in forward flight when not turning we can use the airspeed sensor directly to calculate the wind speed.	13 years ago
Andrew Tridgell	f5b7ae213c	AHRS: added AHRS_GPS_USE parameter this allows for the GPS to be disables for position updates, which allows for testing dead-reckoning	13 years ago
Andrew Tridgell	779dacfd24	AHRS: added wind estimation code this allows us to estimate the wind while we have GPS lock, then use that estimate in the long term dead reckoning	13 years ago
Andrew Tridgell	af4071894e	AHRS: added long-term dead-reckoning this uses airspeed (if available) or last GPS ground speed to update our position estimate in AHRS	13 years ago
Andrew Tridgell	898a5af692	AP_Param: update AHRS for new constructor syntax	13 years ago
rmackay9	468170b589	AP_AHRS_DCM: moved var_info to belong to AP_AHRS_DCM instead of AP_AHRS	13 years ago
Jonathan Challinger	9cd98e79dd	AHRS: normalise GA_b before computing error vector only if too large When GA_b is small the direction of the vector is unreliable, so normalising can exacerbate the error in the direction	13 years ago
Andrew Tridgell	5f5ab9c07c	AHRS: if we don't have gps correction enabled, zero the yaw correction	13 years ago
Andrew Tridgell	c937738732	AHRS: allow the gps/accelerometers to control yaw when rolled this solves a problem with yaw estimation when at high roll angles, when the compass code becomes ineffective	13 years ago
Michael Oborne	a469682b7b	fix param config names	13 years ago
Andrew Tridgell	0f9fb2c64b	AHRS: added AHRS_GPS_GAIN parameter this allows control of how much GPS velocity information is used in doing centripetal correction in DCM	13 years ago
Andrew Tridgell	302696951a	AHRS: make the yaw independent drift correction optional and disable the new correction algorithm copes poorly with gyro drift, leading to signification attitude errors in the face of drift	13 years ago
Andrew Tridgell	8c5ef3e60f	AHRS: only enable barometer for AHRS if it is smooth enough if we used less than 5 samples to compute the pressure then don't use it for climb rate	13 years ago
Andrew Tridgell	2cd6da2539	AHRS: only use GPS for yaw when compass is not being used this avoids having two competing controllers	13 years ago
Andrew Tridgell	adfa97b6f8	AHRS: enable barometer for vertical velocity this re-enables the barometer for vertical velocity information for drift correction, now that we have a better filter on the climb rate	13 years ago
Andrew Tridgell	3849ca8b5c	AHRS: make DCM drift correction not rely on accurate yaw this uses a new formulation of the GPS based drift correction from Bill Premerlani that rotates the error vector to avoid relying on accurate yaw. This means we should get accurate roll/pitch correction even with lots of magnetometer interference It also makes it possible to fly a multicopter with no compass. It can even navigate and correct yaw (slowly!)	13 years ago
Andrew Tridgell	1314e4f872	AHRS: make P gain on PI roll/pitch controller tunable this is to make it easier for Craig and Alan to tune	13 years ago
Andrew Tridgell	16c55c64d4	AHRS: don't add the P terms in _omega this can lead feedback via the _P_gain()	13 years ago
Andrew Tridgell	37fc6c46b9	AHRS: disable barometer for vertical acceleration this seems to have been the cause of the 'flips' seen by Marco and others. Testing by Craig and Alan shows that the flips are gone when the barometric acceleration is removed. It looks like a 5 point average filter is not enough to keep the vertical acceleteration noise low. With high noise in the z axes, the x and y axes are scaled back when the ge vector is normalised.	13 years ago
Andrew Tridgell	58c4d458dc	AHRS: re-instate new DCM drift correction code This reverts commit 078489638d47fbaffde7c51249e36b5a8fc4ef9d.	13 years ago
Andrew Tridgell	fd241692d0	AHRS: revert to the old drift correction algorithm we need to work out why Craigs quad flipped today before we enable this new drift correction	13 years ago
Andrew Tridgell	8e044a560b	AHRS: include P term in omega thanks to Jon for suggesting this	13 years ago
Andrew Tridgell	37e2f2ee2c	AHRS: implement spin rate limits this follows the method that Bill developed in his fastRotations paper. We've demonstrated that this is indeed needed in APM, as we were able to produce the 'dizzy' effects in both the ArduPlane and ArduCopter simulator	13 years ago
Andrew Tridgell	e4a245179c	AHRS: cope with copters with no compass if a copter doesn't have a compass, we can't use the GPS for gyro drift correction	13 years ago
Andrew Tridgell	3a41ad8e7c	AHRS: normalize the ge vector in drift correction, and use barometer The normalisation ensures the error term scales uniformly with different accelerations. The barometer is used for vertical acceleration estimation	13 years ago
Jonathan Challinger	d230690b7b	AHRS: brought DCM more inline with Bill's implementation omega_I applied continuously. _ki larger. Stop integrating when _omega.length()>20 The key change was the scaling of ge to ensure the error is not quadratic	13 years ago
Andrew Tridgell	d4c8041c51	AHRS: first successful version of Bills new drift correction system This makes 3 major changes: 1) fixes the scaling of the yaw drift correction term to fix the time constant 2) don't integrate the mag vector over multiple readings 3) accumulate omega_I changes over 15 seconds before applying, to try to prevent omega_I picking up short term responses	13 years ago
Andrew Tridgell	0f5c22bd8e	AHRS: implement Bills new drift correction algorithm this is an initial implementation of this paper: http://gentlenav.googlecode.com/files/RollPitchDriftCompensation.pdf	13 years ago

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59 Commits (3a582663fb2d6928c14e408ebcd037616d041541)